mlsanityData to 7 Oct 2026

GCE-Pose: Global Context Enhancement for Category-level Object Pose Estimation

arXiv 2502.04293 ↗First posted 6 Feb 2025cs.CVcited by 16

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Abstract (arXiv)

A key challenge in model-free category-level pose estimation is the extraction of contextual object features that generalize across varying instances within a specific category. Recent approaches leverage foundational features to capture semantic and geometry cues from data. However, these approaches fail under partial visibility. We overcome this with a first-complete-then-aggregate strategy for feature extraction utilizing class priors. In this paper, we present GCE-Pose, a method that enhances pose estimation for novel instances by integrating category-level global context prior. GCE-Pose performs semantic shape reconstruction with a proposed Semantic Shape Reconstruction (SSR) module. Given an unseen partial RGB-D object instance, our SSR module reconstructs the instance's global geometry and semantics by deforming category-specific 3D semantic prototypes through a learned deep Linear Shape Model. We further introduce a Global Context Enhanced (GCE) feature fusion module that effectively fuses features from partial RGB-D observations and the reconstructed global context. Extensive experiments validate the impact of our global context prior and the effectiveness of the GCE fusion module, demonstrating that GCE-Pose significantly outperforms existing methods on challenging real-world datasets HouseCat6D and NOCS-REAL275. Our project page is available at https://colin-de.github.io/GCE-Pose/.

Key facts. Cited by 16 papers in the map (data through 7 Oct 2026). Builds on 66 of its 78 references that are in the map. First posted on arXiv 6 Feb 2025.

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66 of 78 references.

References · 66

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  2. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  3. 2018On the Continuity of Rotation Representations in Neural Networkscited by 1,186
  4. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 768
  5. 2015Cyclical Learning Rates for Training Neural Networkscited by 627
  6. 2019Normalized Object Coordinate Space for Category-Level 6D Object Pose and Size Estimationcited by 490
  7. 2023FoundationPose: Unified 6D Pose Estimation and Tracking of Novel Objectscited by 411
  8. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  9. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 352
  10. 2020CosyPose: Consistent multi-view multi-object 6D pose estimationcited by 287
  11. 2017SSD-6D: Making RGB-based 3D detection and 6D pose estimation great againcited by 243
  12. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
38 more
  1. 2022MegaPose: 6D Pose Estimation of Novel Objects via Render & Comparecited by 198
  2. 2019DPOD: 6D Pose Object Detector and Refinercited by 189
  3. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  4. 2020Shape Prior Deformation for Categorical 6D Object Pose and Size Estimationcited by 158
  5. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 155
  6. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  7. 2020Learning Canonical Shape Space for Category-Level 6D Object Pose and Size Estimationcited by 123
  8. 2021FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanismcited by 121
  9. 2022ZebraPose: Coarse to Fine Surface Encoding for 6DoF Object Pose Estimationcited by 115
  10. 2023SAM-6D: Segment Anything Model Meets Zero-Shot 6D Object Pose Estimationcited by 115
  11. 2023GigaPose: Fast and Robust Novel Object Pose Estimation via One Correspondencecited by 113
  12. 2023FoundPose: Unseen Object Pose Estimation with Foundation Featurescited by 109
  13. 2021DualPoseNet: Category-level 6D Object Pose and Size Estimation Using Dual Pose Network with Refined Learning of Pose Consistencycited by 103
  14. 2022GPV-Pose: Category-level Object Pose Estimation via Geometry-guided Point-wise Votingcited by 94
  15. 2023GeoTransformer: Fast and Robust Point Cloud Registration with Geometric Transformercited by 83
  16. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  17. 2022Category-Level 6D Object Pose and Size Estimation using Self-Supervised Deep Prior Deformation Networkscited by 73
  18. 2022ShAPO: Implicit Representations for Multi-Object Shape, Appearance, and Pose Optimizationcited by 70
  19. 2021Category-Level 6D Object Pose Estimation via Cascaded Relation and Recurrent Reconstruction Networkscited by 69
  20. 2022CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimationcited by 69
  21. 2018Explaining the Ambiguity of Object Detection and 6D Pose From Visual Datacited by 68
  22. 2023Rotation-Invariant Transformer for Point Cloud Matchingcited by 68
  23. 2024BOP Challenge 2023 on Detection, Segmentation and Pose Estimation of Seen and Unseen Rigid Objectscited by 60
  24. 2022Category-Level 6D Object Pose Estimation in the Wild: A Semi-Supervised Learning Approach and A New Datasetcited by 59
  25. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 57
  26. 2022Zero-Shot Category-Level Object Pose Estimationcited by 57
  27. 2023FreeZe: Training-free zero-shot 6D pose estimation with geometric and vision foundation modelscited by 56
  28. 2021SAR-Net: Shape Alignment and Recovery Network for Category-level 6D Object Pose and Size Estimationcited by 53
  29. 2023SecondPose: SE(3)-Consistent Dual-Stream Feature Fusion for Category-Level Pose Estimationcited by 52
  30. 2022HouseCat6D -- A Large-Scale Multi-Modal Category Level 6D Object Perception Dataset with Household Objects in Realistic Scenarioscited by 51
  31. 2023HS-Pose: Hybrid Scope Feature Extraction for Category-level Object Pose Estimationcited by 47
  32. 2023GenPose: Generative Category-level Object Pose Estimation via Diffusion Modelscited by 47
  33. 2022PhoCaL: A Multi-Modal Dataset for Category-Level Object Pose Estimation with Photometrically Challenging Objectscited by 45
  34. 2023ZS6D: Zero-shot 6D Object Pose Estimation using Vision Transformerscited by 45
  35. 2022RBP-Pose: Residual Bounding Box Projection for Category-Level Pose Estimationcited by 43
  36. 2024Instance-Adaptive and Geometric-Aware Keypoint Learning for Category-Level 6D Object Pose Estimationcited by 41
  37. 2023IST-Net: Prior-free Category-level Pose Estimation with Implicit Space Transformationcited by 40
  38. 2023VI-Net: Boosting Category-level 6D Object Pose Estimation via Learning Decoupled Rotations on the Spherical Representationscited by 40

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Citing papers per year: 2025: 5; 2026: 11.

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  1. 2025Accurate and efficient zero-shot 6D pose estimation with frozen foundation modelscited by 13
  2. 2025ConceptPose: Training-Free Zero-Shot Object Pose Estimation using Concept Vectorscited by 5
  3. 2025RayPose: Ray Bundling Diffusion for Template Views in Unseen 6D Object Pose Estimationcited by 4
  4. 2026ComPose: A Unified Completion-Pose Framework for Robust Category-Level Object Pose Estimationcited by 3
  5. 2025Instance-Adaptive Keypoint Learning with Local-to-Global Geometric Aggregation for Category-Level Object Pose Estimationcited by 1
  6. 2026MemPose: Category-level Object Pose Estimation with Memorycited by 1
  7. 2025DynOPETs: A Versatile Benchmark for Dynamic Object Pose Estimation and Tracking in Moving Camera Scenarioscited by 0
  8. 2026Object Pose Transformer: Unifying Unseen Object Pose Estimationcited by 0
  9. 2026Exploring 6D Object Pose Estimation with Deformationcited by 0
  10. 2026TSM-Pose: Topology-Aware Learning with Semantic Mamba for Category-Level Object Pose Estimationcited by 0
  11. 2026DecomPose: Disentangling Cross-Category Optimization Contention for Category-Level 6D Object Pose Estimationcited by 0
  12. 2026Symmetry-Aware 9D Pose Estimation with Sim(3)-Consistent Feature and Spherical Inception Convolutioncited by 0
4 more
  1. 2026Flow6D: Discrete-to-Continuous Flow Matching for Efficient and Accurate Category-Level 6D Pose Estimationcited by 0
  2. 2026PriorPose: Reference-Guided Joint Deformation and Alignment for Category-Level Object Pose Estimationcited by 0
  3. 2026LEGAU: Learning Semantic Gaussian Priors for Scalable Category-level Pose Estimationcited by 0
  4. 2026GenCOPE: Syn2Real Generalized Category-Level Object Pose Estimation for Robotic Pickingcited by 0